3.1.9.1.65 0x20E1 High resolution data
Prototype - This object will change in future releases!
High-resolution data contains all position, velocity and phase current measurements of the last millisecond. It
is updated once per millisecond with the new data.
There are four sub-objects, which, when concatenated, reflect the full chunk of data. The timestamp
corresponds to the measurements marked "1". Time step between position/velocity values is the motion
control loop period, time step between phase currents is the torque control loop period. The data is encoded
as follows:
Bytes Value
0-3 Timestamp (32-bit unsigned int)
4-7 Position 1 (32-bit signed int)
8-11 Position 2 (32-bit signed int)
12-15 Position 3 (32-bit signed int)
16-19 Position 4 (32-bit signed int)
20-23 Velocity 1 (32-bit signed int)
24-27 Velocity 2 (32-bit signed int)
28-31 Velocity 3 (32-bit signed int)
32-35 Velocity 4 (32-bit signed int)
36-37 Phase Current I_b 1 (16-bit signed int)
38-39 Phase Current I_c 1 (16-bit signed int)
40-41 Phase Current I_b 2 (16-bit signed int)
42-43 Phase Current I_c 2 (16-bit signed int)
... ...
96-97 Phase Current I_b 16 (16-bit signed
int)
98-99 Phase Current I_c 16 (16-bit signed int)
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Data 1 0x20E1:1 OCTET_STRING(25) 200 0 readonly
(default)
Transmit
PDO
(Inputs)
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